CN114305540B - Instrument driving module, operation power device and split type operation device - Google Patents

Abstract

The embodiment of the invention relates to the technical field of medical instruments, in particular to an instrument driving module, a surgical power device and a split type surgical device, wherein the instrument driving module comprises a mounting part formed by a front fixing plate and a rear fixing plate, a first mounting space is formed on one side of the rear fixing plate, which is far away from the front fixing plate, a second mounting space is formed between the front fixing plate and the rear fixing plate, a third mounting space is formed on one side of the front fixing plate, which is far away from the rear fixing plate, the split type surgical device also comprises four driving rods A used for outputting driving force to an instrument, the driving rods A are slidably arranged in the second mounting space and the third mounting space in a penetrating manner, a power source A used for providing power for the driving rods A and a transmission part A for transmitting power, and the driving motor A in the power source A is arranged in the second mounting space, and the driving rods A are arranged at intervals, so that the structures among all parts are more compact, the space of the installation part is effectively utilized, so that the volume of the surgical instrument is effectively reduced.

Description

Instrument driving module, operation power device and split type operation device

Technical Field

The embodiment of the invention relates to the technical field of medical instruments, in particular to an instrument driving module, a surgical power device and a split type surgical device.

Background

The surgical robot is a comprehensive body integrating a plurality of modern high-tech means, is widely accepted in surgery, and a surgeon can operate the surgical robot to greatly improve the safety and the convenience of the surgery.

In the related art, the distribution among each part in the surgical instrument is dispersed, the space utilization rate in the surgical instrument is low, and the volume of the surgical instrument is large and the use is inconvenient.

Disclosure of Invention

The embodiment of the invention provides an instrument driving module, a surgical power device and a split type surgical device, and aims to solve the problem of large volume of surgical instruments.

A first aspect of embodiments of the present invention provides an instrument drive module, comprising:

the fixing device comprises a front fixing plate and a rear fixing plate, wherein the front fixing plate and the rear fixing plate are arranged in parallel at intervals and are fixedly connected through supporting columns so as to form a first mounting space on one side of the rear fixing plate, which is far away from the front fixing plate, form a second mounting space between the front fixing plate and the rear fixing plate, and form a third mounting space on one side of the front fixing plate, which is far away from the rear fixing plate;

the four driving rods A are arranged on the front fixing plate in a sliding mode along the direction perpendicular to the front fixing plate, and the projections of the four driving rods A on the front fixing plate are distributed in a rectangular mode;

the power output assemblies are arranged in the rectangular diagonal direction, and each power output assembly provides driving force for two driving rods A located in the diagonal direction of the rectangle, wherein each power output assembly comprises a power source A and a transmission part A; the power source A is used for providing power for the transmission part A, and the transmission part A is used for transmitting the power to the two driving rods A positioned at the opposite corners of the rectangle so as to drive the two driving rods A positioned at the opposite corners of the rectangle to slide reversely at the same time;

the power source A comprises a driving motor A and a driving wheel A, the driving wheel A is coaxially and fixedly arranged on an output shaft of the driving motor A, the driving motor A is arranged in the second installation space and fixedly arranged on the rear fixing plate, the output shaft of the driving motor A is perpendicular to the rear fixing plate, and projections of the driving motor A on the front fixing plate are located between projections of the two driving rods A on the front fixing plate.

It is single transmission portion A includes drive steel wire A and two first leading wheels and two second leading wheels, two first leading wheel is located in the second installation space and the interval sets up on the preceding fixed plate, two the second leading wheel is located in the first installation space and the interval sets up on the after-fixing board, be used for to transmission portion A transmission power drive wheel A sets up two between the second leading wheel, drive steel wire A encircles in proper order two first leading wheel and two on the second leading wheel.

Optionally, the driving steel wire a sequentially surrounds the two first guide wheels and the two second guide wheels, and two ends of the driving steel wire a are connected to the driving wheel a to form two first steel wire segments located between the two first guide wheels and the two second guide wheels, which are opposite to each other, a second steel wire segment located between the two first guide wheels, and a third steel wire segment located between the two second guide wheels, where the first steel wire segments are parallel to the driving rod a.

Optionally, four first guide wheels in the two sets of transmission portions a are distributed between the driving rods a, and a connection line of projections of the four first guide wheels on the front fixing plate forms an isosceles trapezoid, so that staggered portions of the second steel wire segments in the two sets of transmission portions a and staggered portions of the third steel wire segments in the two sets of transmission portions a avoid a center of a rectangle surrounded by projections of the driving rods a.

Optionally, the instrument drive module:

the driving rod B is arranged on the front fixing plate and the rear fixing plate in a sliding mode along the direction perpendicular to the front fixing plate, and the projection of the driving rod B on the front fixing plate is located in the center of a rectangle formed by the projections of the four driving rods A;

the power source B drives the driving rod B to slide along the axis direction of the driving rod B through the transmission part B.

Optionally, the power source B includes a driving motor B and a driving wheel B, the driving motor B is disposed in the second mounting space, an output shaft of the driving motor B rotatably passes through and protrudes out of the rear fixing plate, the driving wheel B is coaxially and fixedly disposed on the output shaft of the driving motor B and is located in the first mounting space, and a projection of the driving motor B on the front fixing plate is located between two driving rods a near the same side edge.

Optionally, the transmission portion B includes a driving steel wire B, a third guide wheel and two fourth guide wheels, the third guide wheel is disposed in the second installation space and located on the front fixing plate, the fourth guide wheel is disposed in the first installation space and located on the rear fixing plate, the driving steel wire B sequentially surrounds the driving steel wire B, one of the fourth guide wheels, the third guide wheel and the other fourth guide wheel, two ends of the driving steel wire B are fixedly connected to the side wall of the driving steel wire B after passing through the two fourth guide wheels, two vertical sections of the driving steel wire between the third guide wheel and the two fourth guide wheels are both parallel to the driving rod B, and the driving rod B is in transmission connection with the driving steel wire B;

in the isosceles trapezoid formed by the projection of the first guide wheel on the front fixing plate, the two first guide wheels corresponding to the upper bottom of the isosceles trapezoid are located between the two driving rods a close to the same side edge, and the projection of the third guide wheel, the fourth guide wheel and the driving motor B on the front fixing plate is located between the other two driving rods a.

Optionally, the third guide wheel includes a guide wheel and a third mounting seat, the guide wheel is connected to the front fixing plate through the third mounting seat, the third mounting seat is slidably disposed on the front fixing plate along the axis direction of the driving rod a and extends into the third mounting space, a pre-tightening device is disposed in the third mounting space on the front fixing plate, and the pre-tightening device is used for driving the third guide wheel to approach one side of the front fixing plate.

Optionally, the driving rod B is rotatably disposed on the front fixing plate and the rear fixing plate along an axis direction thereof, and a power source C for driving the driving rod B to rotate is disposed on the rear fixing plate;

the power source C comprises a driving motor C and a driving gear C, the driving motor C is arranged in the second installation space and is fixedly connected with the rear fixing plate, an output shaft of the driving motor C rotatably penetrates through and protrudes out of the rear fixing plate, the driving gear C is installed in the first installation space and is sleeved on the output shaft of the driving motor C, and the axis of the driving motor C is parallel to the axis of the driving rod B;

the coaxial fixed driven gear C that is provided with on the actuating lever B, driven gear C is located second installation space, it is provided with the transmission post to rotate on the after-fixing board, the transmission post is located first installation space with both ends in the second installation space are coaxial fixed drive gear respectively, two drive gear respectively with drive gear C with driven gear C meshes, driven gear C is greater than along axial width drive lever B's slip range, so that drive gear is in when actuating lever B slides all the time with driven gear C meshes.

Optionally, the driving rod a is provided with a connecting piece along the rotation of the axis direction, the driving rod a passes through the connecting piece and is connected with the driving steel wire a in a transmission manner, the driving rod B is provided with another connecting piece along the rotation of the axis direction, and the driving rod B is connected with the driving steel wire B in a transmission manner through the connecting piece.

Optionally, the connecting piece comprises a connecting seat and a pressing plate, and the pressing plate is fixedly connected with the connecting seat through a bolt so as to clamp the corresponding driving steel wire;

the connecting base located on the driving rod A is rotatably sleeved on the driving rod A, the connecting base axially corresponds to the driving rod A in a locking mode, the connecting base located on the driving rod B is rotatably sleeved on the driving rod B, and the connecting base axially corresponds to the driving rod B in a locking mode.

Optionally, the driving wheel a and two second guide wheels in the same transmission portion a are projected on the rear fixing plate to form a triangular distribution, the driving wheel a is located between the two second guide wheels near the same side edge, so that the intersection of the two second steel wire segments is located between the driving rod B and the fourth guide wheel, and the driving gear C and the transmission column are disposed on a side of the driving rod B away from the fourth guide wheel.

Optionally, the first guide wheel includes a guide wheel and a first mounting seat, the guide wheel is connected with the front fixing plate through the first mounting seat, the first mounting seat is slidably disposed on the front fixing plate along the axis direction of the driving rod a, a pre-tightening device is disposed on the front fixing plate, the pre-tightening device is disposed in the third mounting space and used for driving the first guide wheel to approach to one side of the front fixing plate, and when the driving steel wire a reciprocates under the driving of the power source a, the pre-tightening device locks the first mounting seat on the front fixing plate.

Optionally, the first mounting shaft is rotatably disposed on the front fixing plate, the second mounting seat includes a second mounting shaft, a cross section of the second mounting shaft is a non-circular cross section, a second mounting hole having a shape matched with a shape of the cross section of the second mounting shaft is formed in the rear fixing plate, and the second guide wheel is fixedly connected to the rear fixing plate through the second mounting shaft.

A second aspect of the embodiments of the present invention provides a surgical power device, including the above-mentioned instrument driving module, further including:

the power main machine comprises a shell, the instrument driving module is arranged in the shell, and a joint seat used for detachably connecting an instrument is arranged on the instrument driving module;

handle mechanism, handle mechanism sets up on the casing, handle mechanism includes brake valve lever, brake valve lever is through adjusting ball subassembly control instrument drive module, thereby pass through instrument drive module control actuating lever A is flexible to universal snake bone subassembly on the control device follows the synchronous deflection of brake valve lever, the last finger joint subassembly that is provided with of brake valve lever is used for passing through instrument drive module control actuating lever B is flexible or rotate, follows with the last terminal executive component of control device finger joint subassembly rotates or opens and shuts.

A third aspect of the embodiments of the present invention provides a split type surgical device, including the surgical power device described above, further including:

an instrument removably disposed on the surgical power device;

the instrument comprises an interface seat, an abdomen entering component, a universal snake bone component and a tail end executing component which are sequentially connected, wherein the interface seat is detachably connected with a joint seat in the operation power device;

the control handle in the operation power device controls the instrument driving module through the adjusting ball assembly, so that the universal snake bone assembly is controlled to deflect synchronously along with the control handle through the instrument driving module, and/or the tail end executive part is controlled to rotate or open and close along with the finger buckle assembly.

The instrument driving module comprises a mounting part consisting of a front fixing plate and a rear fixing plate, wherein a first mounting space is formed on one side of the rear fixing plate, which is far away from the front fixing plate, a second mounting space is formed between the front fixing plate and the rear fixing plate, a third mounting space is formed on one side of the front fixing plate, which is far away from the rear fixing plate, the instrument driving module also comprises four driving rods A used for outputting driving force to an instrument, the driving rods A are slidably arranged in the second mounting space and the third mounting space in a penetrating manner, a power source A used for providing power to the driving rods A and a transmission part A used for transmitting power, and the driving motors A in the power source A are arranged in the second mounting space and arranged among the driving rods A at intervals, so that the structures among all parts are more compact, the space of the installation part is effectively utilized, so that the volume of the surgical instrument is effectively reduced.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.

FIG. 1 is a schematic view of an instrument drive module according to an embodiment of the present disclosure;

FIG. 2 is a schematic view of an instrument drive module from another perspective in accordance with an embodiment of the present invention;

fig. 3 is a schematic view of a group of transmission parts a according to an embodiment of the present invention;

FIG. 4 is a schematic view of a driving wheel A and a driving wire A according to an embodiment of the present invention;

FIG. 5 is a schematic view of a power source A and a transmission portion A according to an embodiment of the present invention;

FIG. 6 is a side view of a power source B and a power source C according to one embodiment of the present invention;

FIG. 7 is a schematic diagram of a transmission portion A and a transmission portion B according to an embodiment of the present invention;

fig. 8 is a plan view of a transmission part a and a transmission part B according to an embodiment of the present invention;

FIG. 9 is a schematic view of a connector according to an embodiment of the present invention;

FIG. 10 is a cross-sectional view of a pretensioning device according to an embodiment of the present invention;

FIG. 11 is a schematic view of a second mounting base according to an embodiment of the present invention;

FIG. 12 is a diagrammatic view of a surgical power unit in accordance with an embodiment of the present invention;

FIG. 13 is a diagrammatic view of a split surgical device in accordance with an embodiment of the present invention;

fig. 14 is a schematic view of an end of an instrument according to an embodiment of the present invention.

Reference numerals:

30. an instrument drive module; 313. a first installation space; 314. a second installation space; 315. a third installation space; 32. a power source A; 33. a transmission part A; 35. a power source B; 351. driving a motor B; 352. a drive wheel B; 353. driving the gear B; 354. a driven gear B; 355. an input shaft support B; 36. a transmission part B; 361. a drive wire B; 362. a third guide wheel; 363. a fourth guide wheel; 37. a power source C; 371. driving a motor C; 372. driving the gear C; 373. a driven gear C; 374. a drive post; 375. a transmission gear; 38. a joint base; 39. a connecting member; 391. a connecting seat; 392. pressing a plate; 311. a front fixing plate; 312. a rear fixing plate; 321. driving a motor A; 322. a driving wheel A; 3221. a first winding groove; 3222. a second winding groove; 331. a driving wire A; 332. a first guide wheel; 333. a second guide wheel; 3321. a first mounting seat; 3322. a first mounting shaft; 3331. a second mounting shaft; 324. a pre-tightening device; 3241. pre-tightening the spring; 3242. installing a gasket; 3311. a first wire segment; 3312. a second wire segment; 3313. a third wire segment; 341. a drive rod A; 342. a drive rod B; 3411. a guide cylinder; 26. a handle mechanism; 265. a control handle; 263. a finger tab assembly; 266. an adjustment ball assembly; 282. an abdominal component; 284. a universal snake bone component; 286. an end effector; 281. an interface seat; 27. a power main machine; 28. an apparatus.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The surgical robot is a comprehensive body integrating a plurality of modern high-tech means, is widely accepted in surgery, and a surgeon can operate the surgical robot to greatly improve the safety and the convenience of the surgery.

In the related art, the distribution among each component inside the surgical instrument is relatively dispersed, and the space utilization rate in the surgical instrument is relatively low, for example, in the structure of a specific surgical instrument, the motor is generally driven in a direct-drive mode, and the motor and the power output are respectively arranged in different spaces, so that the volume of the surgical instrument is relatively large, and the surgical instrument is relatively inconvenient to use.

Example one

In the present invention, the split type surgical device includes two parts of an instrument and a surgical power device, a universal snake bone assembly 284 capable of bending in all directions is arranged on the instrument 28, an end effector 286 such as a forceps, a tweezers, a scissors, etc. is connected to the universal snake bone assembly 284, the end effector 286 is connected to one end of the universal snake bone assembly 284 away from the surgical power device, an instrument driving module 30 for outputting power is arranged in the surgical power device, when the instrument is connected to the surgical power device, the instrument driving module 30 outputs power to release traction force applied to one or two adjacent traction wires of the four traction wires, and at the same time, traction force is applied to the other or two traction wires opposite to the other traction wires, so that the universal snake bone assembly 284 bends to one side of the traction wires applying traction force.

In view of the above, an embodiment of the present invention provides an instrument driving module, and referring to fig. 1 and 2, the instrument driving module includes: a front fixed plate 311, a rear fixed plate 312, four driving rods a341 and two groups of power output components.

The front fixing plate 311 and the rear fixing plate 312, the front fixing plate 311 and the rear fixing plate 312 are parallel and spaced, and are fixedly connected through a support column, a first mounting space 313 is formed on one side of the rear fixing plate 312 departing from the front fixing plate 311, a second mounting space 314 is formed between the front fixing plate 311 and the rear fixing plate 312, and a third mounting space 315 is formed on one side of the front fixing plate 311 departing from the rear fixing plate 312.

The front fixing plate 311 and the rear fixing plate 312 are two plates with the same shape, the front fixing plate 311 and the rear fixing plate 312 are arranged at intervals and connected through four support columns, the four support columns are arranged between the front fixing plate 311 and the rear fixing plate 312 and are uniformly distributed on the edge of the plate surface, the four support columns penetrate through the front fixing plate 311 and the rear fixing plate 312 through fixing screws and then are in threaded connection with the support columns, and therefore the front fixing plate 311 and the rear fixing plate 312 are fixedly connected.

Four driving rods a341 are arranged in the instrument driving module, the driving rods a341 are slidably arranged on the front fixing plate 311 in a direction perpendicular to the front fixing plate 311, and the projections of the four driving rods a341 on the front fixing plate 311 are distributed in a rectangular shape.

Referring to fig. 1 and 2, four through holes for allowing end portions of four driving rods a341 to slide through are formed in the front fixing plate 311, four guide cylinders 3411 corresponding to each through hole in a one-to-one manner and coaxial with each through hole are disposed on the front fixing plate 311, the guide cylinders 3411 are located in the second mounting space 314, the driving rods a341 are slidably disposed in the guide cylinders 3411, second sliding members connected to the driving rods a341 are disposed in the guide cylinders 3411, and the second sliding members may be linear bearings, so that the driving rods a341 are guided, resistance of the driving rods a341 during sliding is reduced, and transmission efficiency of the entire driving rods a341 is further improved.

Referring to fig. 2 and 5, the instrument driving module includes two sets of power output assemblies, each set of power output assemblies providing driving force to two driving rods a341 located at opposite corners of a rectangle, wherein each set of power output assemblies includes a power source a32 and a transmission portion a 33; the power source a32 is used for supplying power to the transmission part a33, and the transmission part a33 is used for transmitting power to the two driving rods a341 positioned at the opposite corners of the rectangle, so as to drive the two driving rods a341 positioned at the opposite corners of the rectangle to slide reversely at the same time.

Referring to fig. 4, the power source a32 includes a driving motor a321 and a driving wheel a322, the driving wheel a322 is coaxially and fixedly disposed on an output shaft of the driving motor a321, the driving motor a321 is disposed in the second installation space 314 and fixedly disposed on the rear fixing plate 312, the output shaft of the driving motor a321 vertically penetrates through the rear fixing plate 312, and as shown in fig. 7, a projection of the driving motor a321 and the driving wheel a322 on the front fixing plate 311 is located between projections of the two driving rods a341 on the front fixing plate 311.

Wherein, the one end that driving motor A321 is close to the output shaft passes through screw fixed mounting on rear fixed plate 312, and driving motor A321's output shaft rotationally passes and protrusion in rear fixed plate 312, and driving motor A322 cover is located driving motor A321's output shaft, and driving motor A321's axis is parallel with the axis of actuating lever A341, sets up driving motor A321 on rear fixed plate along the direction that is on a parallel with whole device length direction, compares in horizontal setting, has effectively reduced driving motor A321's occupation space. The driving motor a321 is installed at a position close to the edge of the rear fixing plate 312 and located between the two driving rods a341 close to the same side edge, and the two driving motors a321 are respectively located at two opposite edges of the rear fixing plate 312. The driving motor a321 is disposed closer to the edge of the rear fixing plate 312 with respect to the driving rod a 341. Arranging the drive motor a321 at the edge facilitates winding of the wire end on the output shaft of the drive motor a321, and also facilitates maintenance or replacement of the drive motor a 321.

Referring to fig. 3, the single transmission part a33 includes a driving wire a331, two first guide wheels 332 and two second guide wheels 333, the two first guide wheels 332 are disposed in the second installation space 314 and spaced apart from each other on the front fixing plate 311, the two second guide wheels 333 are disposed in the first installation space 313 and spaced apart from each other on the rear fixing plate 312, the driving wire a322 for transmitting power to the transmission part a33 is disposed between the two second guide wheels 333, the rear fixing plate 312 is provided with a through hole for passing the driving wire a331, and the driving wire a331 passes through the through hole and then sequentially surrounds the driving wire a322, the two first guide wheels 332 and the two second guide wheels 333.

Referring to fig. 4, at least two winding grooves are formed in the side wall of the driving wheel a322 along the circumferential direction, the at least two winding grooves are parallel to each other and independent, two ends of the driving steel wire a331 are respectively wound in different winding grooves and opposite in winding direction, two ends of the driving steel wire a331 are fixedly connected with the driving wheel a322, and the driving steel wire a331 is driven to move through the forward and reverse rotation of the motor. At least two winding grooves include at least: a first winding groove 3221 and a second winding groove 3222.

When the driving motor a321 rotates forwards, the driving motor a321 drives the driving wheel a322 to rotate, and because the two ends of the driving steel wire a331 are wound on the driving wheel a322, when the driving wheel a322 rotates, one end of the driving steel wire a331 fixedly connected with the driving wheel a322 is driven to wind on the driving wheel a322, and the other end is driven to loosen from the driving wheel a322, so that the driving steel wire a331 is driven to move along the guiding directions of the first guiding wheel 332 and the second guiding wheel 333; similarly, when the motor rotates reversely, the driving steel wire a331 is driven to move reversely, so that the driving rod a341 connected with the driving steel wire a331 is driven to reciprocate along with the forward and reverse rotation of the motor through the forward and reverse rotation of the driving motor a321, and the effect of providing driving force for the two driving rods a341 through one motor is realized.

The driving motor A321 in the power source A32 is arranged in the second installation space 314, the driving motor A321 is arranged between the two driving rods A341 at intervals, the output shaft of the driving motor A321 extends into the first installation space 313 through the rear fixing plate 312, so that the driving wheel A322 is arranged in the first installation space 313, the second guide wheel 333 is arranged in the first installation space 313, the driving steel wire A enters the second installation space 314 from the through hole on the rear fixing plate 312, the first guide wheel 332 is arranged on the plate surface of the front fixing plate 311 close to one side of the second installation space 314, so that the driving steel wire A forms a first steel wire section 3311 parallel to the sliding direction of the driving rod A, the effect of driving the driving rod A to slide is realized when the driving steel wire A slides, the driving motor A321, the first steel wire section 3311 and the driving rods A which are parallel to each other are closely arranged, and the utilization rate of the second installation space 314 is effectively improved, the volume of the whole device is reduced.

Since the first installation space 313 is located more outside with respect to the entire apparatus, the process of installing the second guide wheel 333 and the driving wheel a322 and the process of connecting the driving wire a with the driving wheel a are facilitated.

The driving wheel A322 and the second guide wheel 333 are arranged at intervals, and the first guide wheel 332 and the driving rod A are arranged at intervals, so that the layout of the whole device is more compact, and the volume of the surgical instrument 28 is effectively reduced.

In some embodiments, referring to fig. 3 and 5, after the driving wire a331 is sequentially wound around the two first guide wheels 332 and the two second guide wheels 333, both ends of the driving wire a331 are connected to the driving wheel a322 to form two first wire segments 3311 between the two first guide wheels 332 and the two second guide wheels 333 which are opposite to each other, a second wire segment 3312 between the two first guide wheels 332, and a third wire segment 3313 between the two second guide wheels 333, the first wire segments 3311 being parallel to the driving rod a 341.

The first wire segment 3311 is parallel to the driving rod a341 and the driving motor a321, and is distributed in the space between the components, the second wire segment 3312 and the third wire segment 3313 are parallel to the front fixing plate 311 and the rear fixing plate 312, and the second wire segment 3312 and the third wire segment 3313 are inserted in the gap between the components at a position close to the front fixing plate 311 or the rear fixing plate 312, so that the space occupied by the transmission part a33 is reduced.

Referring to fig. 1 and 8, in some embodiments, the four first guide wheels 332 of the two sets of transmission parts a33 are distributed between the driving rods a341, and the projection of the four first guide wheels 332 on the front fixing plate 311 is connected in an isosceles trapezoid shape, so that the staggered portions of the second wire segments 3312 of the two sets of transmission parts a33 and the staggered portions of the third wire segments 3313 of the two sets of transmission parts a33 avoid the center of the rectangle formed by the projection of the driving rods a 341.

Since the second wire section 3312 of the driving wire a331 is positioned to cross at a position shifted from the side close to the rear fixing plate 312, when other components are mounted on the rear fixing plate 312, the driving wire a331 is easily interfered, in order to make the most of the space, the line between the driving wheel a322 and the two second guide wheels 333 is dislocated, when the driving wire a331 is connected to the driving wheel a322, the driving wire a331 protruded from both sides of the driving wheel a322 is angled, in some embodiments, two second guide wheels 333 are respectively provided near both side edges on the rear fixing plate 312, the driving wheel a322 is located between the two second guide wheels 333, meanwhile, the two ends of the driving steel wire A331 are connected with the driving wheel A322 after passing through the second guide wheel 333 respectively, thereby, the driving wire a331 is moved away from the middle position of the rear fixing plate 312, and it is convenient to arrange other components.

In some embodiments, referring to fig. 2 and 6, the instrument drive module further includes a drive rod B342, a power source B35, and a transmission B36.

The driving rod B342 is slidably disposed on the front fixing plate 311 and the rear fixing plate 312 along a direction perpendicular to the front fixing plate 311, and a projection of the driving rod B342 on the front fixing plate 311 is located at the center of a rectangle surrounded by projections of the four driving rods a 341.

The power source B35 drives the driving rod B342 to slide along the self axis direction through the transmission part B36.

In some embodiments, the instrument driving module may further include a driving rod B342 and another set of driving components, including a power source B35 and a transmission part B36, because the driving rod B342 is often required to open and close an end effector 286 of the connected instrument 28, when the universal snake assembly 284 is deflected by the driving force output from the four driving rods a341 to the instrument.

Referring to fig. 6 and 7, in some embodiments, the power source B35 includes a driving motor B351 and a driving wheel B352, the driving motor B351 is disposed in the second installation space 314, an output shaft of the driving motor B351 rotatably penetrates and protrudes from the rear fixing plate 312, the driving wheel B352 is coaxially and fixedly disposed on the output shaft of the driving motor B351, the driving wheel B352 is disposed in the first installation space 313, and a projection of the driving motor B351 on the front fixing plate 311 is located between two driving rods a341 near the same side edge.

The transmission part B36 includes a driving wire B361, a third guide wheel 362 and two fourth guide wheels 363, the third guide wheel 362 is disposed in the second installation space 314 and located on the front fixing plate 311, the fourth guide wheel 363 is disposed in the first installation space 313 and located on the rear fixing plate 312, the driving wire B361 sequentially surrounds the driving wire B352, one of the fourth guide wheels 363, the third guide wheel 362 and the other fourth guide wheel 363, two ends of the driving wire B361 pass through the two fourth guide wheels 363 and then are fixedly connected with a side wall of the driving wire B352, two vertical sections of the driving wire between the third guide wheel 362 and the two fourth guide wheels 363 are parallel to the driving rod B342, and the driving rod B342 is in transmission connection with the driving wire B361.

Referring to fig. 6 and 8, in an isosceles trapezoid formed by the projection of the first guide wheels 332 on the front fixing plate 311, two first guide wheels 332 corresponding to the upper base of the isosceles trapezoid are located between two driving rods a341 near the same side edge, and the projection of the third guide wheel 362, the fourth guide wheel 363, and the driving motor B351 on the front fixing plate 311 is located between the other two driving rods a 341.

The rear fixing plate 312 is provided with a side through hole through which a driving steel wire B361 passes, one end of the driving steel wire B361 is fixed on the driving wheel B352, the other end of the driving steel wire B361 passes through a fourth guide wheel 363 and turns in a direction parallel to the rear fixing plate 312, a third guide wheel 362 is wound in a direction perpendicular to the rear fixing plate 312 after passing through the through hole, then the driving steel wire B361 passes through another through hole in a direction perpendicular to the rear fixing plate 312 and turns in a direction parallel to the rear fixing plate 312, and finally the driving steel wire B361 is fixedly connected with the driving wheel B352 in a direction parallel to the rear fixing plate 312, the driving steel wire B361 is wound to form a right-angle surface with a shape similar to a closed loop, and a steel wire section between the driving wheel B352 and the fourth guide wheel 363 is perpendicular to a steel wire section between the third guide wheel 362 and the fourth guide wheel 363. The driving wheel B352 is driven to rotate by the driving motor B351, so as to drive the driving wire B361 fixedly connected to the driving wheel B352 to move along the third guide wheel 362 and the fourth guide wheel 363, and further drive the driving rod B342 to output power.

The power source B35 further comprises a driving gear B353, and the driving gear B353 is coaxially and fixedly arranged on an output shaft of the driving motor B351; a driving wheel B352 is rotatably provided on the rear fixing plate 312 in a direction parallel to the axis of the driving motor B351, a driven gear B354 is provided on the driving wheel B352, and the driving gear B353 and the driven gear B354 are engaged with each other.

The driving wheel B352 is mounted on the rear fixing plate 312 through a mounting shaft having a kidney-shaped cross section, a screw thread is provided on the protruding end of the mounting shaft, and then it is fixed on the rear fixing plate 312 through a nut, the driving wheel B352 is rotatably connected with the mounting shaft, and then the driving wheel B353 is fixedly connected with the driving wheel B352 through a bolt while its axial movement is restricted by a split washer. Since the driving wire B361 is perpendicular to the output shaft of the driving motor B351, during operation, the output shaft of the driving motor B351 receives a moment from two ends of the driving wire B361, i.e. double the moment perpendicular to the axis direction of the driving wire B351, and the output shaft of the driving motor B351 is easy to deflect or bend, so that the driving motor B351 is in mesh transmission with the driven gear B354 through the driving gear B353, so that the force of the driving motor B351 is transmitted to the driving wheel B352, and the driving wire B361 is driven to move, so that the output shaft of the driving motor B351 only receives the rotation moment of the driven gear B354.

In some embodiments, referring to fig. 7 and 8, the projection of the driving wheel a322 and the two second guide wheels 333 in the same transmission part a33 are distributed in a triangle on the rear fixing plate 312, the driving wheel a322 is located between the two second guide wheels 333 near the same side edge, so that the intersection point of the two second wire segments 3312 is located between the driving rod B342 and the fourth guide wheel, and the driving gear C372 and the transmission column 374 are arranged on the side of the driving rod B342 far from the fourth guide wheel 363.

The second steel wire section 3312 is located near the front fixing plate 311, the third steel wire section 3313 is located near the rear fixing plate 312, the projected connecting line of the second guide wheels 333 located on the rear fixing plate 312 forms an isosceles trapezoid, because the two second guide wheels corresponding to the upper base of the isosceles trapezoid are located near one side of the edge of the rear fixing plate 312, and the two second guide wheels corresponding to the lower base of the isosceles trapezoid are located near the middle of the opposite edges of the other two sides of the rear fixing plate 312, the intersection point of the second steel wire sections 3312 in the two driving steel wires a331 is located on one side of the upper base of the isosceles trapezoid relative to the driving rod B342; the driving wheel a322 is used for adjusting the direction of the third steel wire section 3313, so that the intersection point of the third steel wire section 3313 is located at the other side of the driving rod B342, wherein the driving motor B351 and the driven gear B354, the fourth guide wheel 363 and the through hole for the driving steel wire B361 to pass through are both located between the intersection point of the third steel wire section 3313 and the edge of the rear fixing plate 312, the driving motor B351 is located at the position close to the most edge of the rear fixing plate 312, the third guide wheel 362 is located on the front fixing plate 311 and located at the side of the driving rod B342 far away from the intersection point of the second steel wire section 3312, the interference between the transmission part B36 and the driving steel wire a331 is effectively avoided, and the structure is more compact.

In some embodiments, the driving rod B342 is rotatably disposed on the front fixing plate 311 and the rear fixing plate 312 along the axis direction thereof, and the rear fixing plate 312 is provided with a power source C37 for driving the driving rod B342 to rotate.

Referring to fig. 2 and 6, the power source C37 includes a driving motor C371 and a driving gear C372, the driving motor C371 is disposed in the second mounting space 314 and fixedly connected to the rear fixing plate 312, an output shaft of the driving motor C371 rotatably passes through and protrudes out of the rear fixing plate 312, the driving gear C372 is mounted in the first mounting space 313 and sleeved on the output shaft of the driving motor C371, and an axis of the driving motor C371 is parallel to an axis of the driving rod B342.

A driven gear C373 is coaxially and fixedly arranged on the driving rod B342, the driven gear C373 is positioned in the second mounting space 314, a transmission column 374 is rotatably arranged on the rear fixing plate 312, two ends of the transmission column 374, which are positioned in the first mounting space 313 and the second mounting space 314, are respectively and coaxially and fixedly provided with a transmission gear 375, the two transmission gears 375 are respectively meshed with the driving gear C372 and the driven gear C373, and the width of the driven gear C373 in the axial direction is greater than the sliding amplitude of the driving rod B342, so that the transmission gear 375 is always meshed with the driven gear C373 when the driving rod B342 slides.

In order to reduce the space occupied by the driving motor C371, the driving motor C371 is disposed in the second installation space 314, and since the driven gear C373 is always engaged with the driving gear C372 during the sliding of the driving lever B342, the driving gear C372 has a long length, the driven gear C373 is disposed at a position where the driving lever B342 is located in the second installation space 314, and at the same time, the power of the output shaft of the driving motor C371 protruding into the first installation space 313 is transmitted to the driven gear C373 in the second installation space 314 through the transmission rod.

Referring to fig. 8, since the driving wheel a322 adjusts the direction of the third wire section 3313, so that the intersection of the third wire section 3313 is located at the side of the driving rod B342 far from the driving motor B351, and an installation space is left between the two second guide wheels 333 near the upper bottom side of the trapezoidal projection of the second guide wheel 333 on the rear fixing plate 312, the driving motor C371 and the driving gear C372 are disposed between the two second guide wheels 333 near the upper bottom side of the trapezoidal projection, and then the driving rod B342 is driven to rotate by the driving post 374 extending into the first installation space 313, thereby effectively utilizing the gap between the components and making the whole structure more compact.

Wherein, the transmission post 374 wears to establish on the fixed back plate 312, and the transmission post 374 is close to the fixed back plate 312 both sides face position and rotates respectively and is provided with a ball bearing to make transmission post 374 and fixed back plate 312 rotate and be connected, then pass through bolt fixed mounting with two drive gears 375 at the both ends of transmission post 374, thereby realize the transmission effect.

An input shaft support B355 is fixedly mounted on the rear fixing plate 312 through three screws, the input shaft support B355 is cylindrical, openings for allowing two ends of a driving steel wire B361 to pass through are formed in the side wall of the input shaft support B355, an observation hole for conveniently observing the inside is formed in the side wall, close to the outer side, of the input shaft support B355, a first rolling member is arranged in the input shaft support B355 in a rotating mode, the first rolling member is a deep groove ball bearing in the embodiment, the driving wheel B352 is rotatably mounted on the rear fixing plate 312, the other end of the driving wheel B352 is rotatably connected with the input shaft support B355 through the first rolling member, two-point support perpendicular to the axis direction of the driving wheel B352 is provided, the cantilever beam structure of an output shaft of the driving motor B351 originally is converted into a simple beam structure of the driving wheel B352, and the supporting effect of the driving wheel B352 is improved.

In some embodiments, referring to fig. 3 and 9, a connection member 39 is rotatably disposed on the driving rod a341 along the self-axis direction, the driving rod a341 is in transmission connection with the driving wire a331 through the connection member 39, another connection member 39 is rotatably disposed on the driving rod B342 along the self-axis direction, and the driving rod B342 is in transmission connection with the driving wire B361 through the connection member 39.

The connecting member 39 includes a connecting seat 391 and a pressing plate 392, and the pressing plate 392 is fixedly connected with the connecting seat 391 by bolts to clamp the corresponding driving wire.

The connecting seat 391 on the driving rod a341 is rotatably sleeved on the driving rod a341, the connecting seat 391 is axially locked relative to the driving rod a341, the connecting seat 391 on the driving rod B342 is rotatably sleeved on the driving rod B342, and the connecting seat 391 is axially locked relative to the driving rod B342.

Wherein, when the drive steel wire a331 moves, the drive steel wire a331 drives the drive rod a341 parallel to the first steel wire section 3311 to move through the connecting piece 39, because the connecting seat 391 is rotationally connected with the drive rod a341, when the drive steel wire a331 is tensioned, the drive steel wire a331 can drive the connecting seat 391 to rotate to the plane where the drive steel wire a331 and the drive rod a341 adapted are located, because the connecting piece 39 is fixedly connected with the drive steel wire a331, when the first steel wire section 3311 of the drive steel wire a331 moves, all the driving forces parallel to the direction of the drive rod a341 are transmitted to the drive rod a341, and the transmission efficiency of the whole device is effectively improved.

Simultaneously when carrying out the overall arrangement to each part, because connecting seat 391 rotates the cover and establishes on actuating lever A341, actuating lever A341 all can be connected with drive wire A331 through rotating connecting seat 391 in optional position, more diversified during messenger's overall arrangement.

In some embodiments, referring to fig. 2 and 10, the first guide wheel 332 includes a guide wheel connected to the front fixing plate 311 through a first mounting seat 3321, the first mounting seat 3321 is slidably disposed on the front fixing plate 311 in the axial direction of the driving rod a341, a pre-tightening device 324 is disposed on the front fixing plate 311, the pre-tightening device 324 is disposed in the third mounting space 315 to urge the first guide wheel 332 to approach the front fixing plate 311 side, and the pre-tightening device 324 locks the first mounting seat 3321 on the front fixing plate 311 when the driving wire a331 reciprocates under the driving of the power source a 32.

When the first guide wheel 332 is not stressed, the first mounting shaft 3322 penetrates through the front fixing plate 311, then the pre-tightening spring 3241 is sleeved at the part, through which the first mounting shaft 3322 penetrates, of the pre-tightening spring 3241, the length of the pre-tightening spring 3241 is always larger than the length, out of which the first mounting shaft 3322 extends, then the mounting gasket 3242 abuts against the other end of the pre-tightening spring 3241, the pre-tightening spring 3241 is mounted on the first mounting shaft 3322 through mounting screws, the length of the pre-tightening spring 3241 is adjusted through adjusting the screwing length of the pre-tightening screw, so that the distance between the first guide wheel 332 and the front fixing plate 311 is adjusted through the pre-tightening spring 3241, the driving steel wire a331 is tensioned, and when the driving steel wire a331 deforms, the pre-tightening spring 3241 always tensions the driving steel wire a331, and therefore, high transmission efficiency of the driving steel wire a331 is effectively guaranteed in the using process.

By arranging the pretensioning device 324 in the third installation space 315, the occupation of the second installation space 314 is effectively reduced, thereby avoiding the influence on other components in the second installation space 314 and effectively utilizing the third installation space 315.

Referring to fig. 3, the first mounting shaft 3322 is rotatably connected to the front fixing plate 311, when the driving wire a331 is tensioned, a 90 ° tread surface of the first guide wheel 332 contacts the driving wire a331, and when the driving wire a331 receives a tensile force, a resultant force on a plane where the driving wire a331 is located is applied to the first guide wheel 332 due to the eccentricity of the first guide wheel 332 with respect to the axis of the first mounting shaft 3322, and when the first guide wheel 332 deflects, the resultant force applies a corrective component force to the first guide wheel 332 through the driving wire a331, so that the rotation axis of the first guide wheel 332 is always perpendicular to the plane where the driving wire a331 extending from both sides of the first guide wheel 332 is located, thereby improving the transmission efficiency of the driving wire a331 and reducing the wear of the driving wire a 331.

Referring to fig. 11, the second guide wheel 333 includes a second mounting shaft 3331, the second mounting shaft 3331 has a non-circular cross section, the rear fixing plate 312 has a second mounting hole with a shape corresponding to the cross section of the second mounting shaft 3331, the second guide wheel 333 is fixedly connected to the rear fixing plate 312 via the second mounting shaft 3331 to limit the rotation of the second guide wheel 333 about its own axis, in order to prevent the second guide wheel 333 from deflecting and thus the first wire section 3311 of the driving wire a331 from deflecting and affecting the force transmission of the driving wire a331, and to prevent the driving wire a331 from rubbing against the rear fixing plate 312, the section of the second mounting shaft 3331 is thus provided with a non-circular section, for example, a kidney-shaped section, and the second mounting hole in which the second guide pulley 333 is mounted is adapted to the section thereof, thereby preventing the second mounting shaft 3331 of the second guide wheel 333 from rotating and effectively improving the stability of the whole structure.

Example two

Another embodiment of the present invention provides a surgical power device, referring to fig. 12, including a handle mechanism 26, a power main 27, the above-mentioned instrument driving module 30, and further including the power main 27.

The power main 27 comprises a housing and an instrument driving module 30, the instrument driving module 30 is disposed in the housing, and a connector base 38 for detachably connecting the instrument 28 is disposed on the instrument driving module 30.

The handle mechanism 26 is disposed on the housing, the handle mechanism 26 includes a control handle 265, the control handle 265 controls the instrument driving module 30 through the adjusting ball assembly 266, so as to control the driving rod a341 to extend and retract through the instrument driving module 30, so as to control the universal snake bone assembly 284 on the instrument 28 to synchronously deflect along with the control handle 265, and a finger-buckle assembly 263 is disposed on the control handle 265, and is used for controlling the driving rod B342 to extend and retract or rotate through the instrument driving module 30, so as to control the end effector 286 on the instrument 28 to rotate or open and close along with the finger-buckle assembly 263.

EXAMPLE III

Based on the same inventive concept, another embodiment of the present invention provides a split-type surgical device, referring to fig. 13, including the surgical power device provided in the second embodiment, and further including an instrument 28, where the instrument 28 is detachably disposed on the surgical power device.

Referring to fig. 13 and 14, instrument 28 includes, in series, an interface seat 281, an abdominal assembly 282, a universal snake assembly 284, and an end effector 286, interface seat 281 being adapted for removable connection with a connector seat 38 in a surgical power unit.

Control handle 265 of the surgical power device controls instrument drive module 30 via adjustment ball assembly 266 such that universal snake assembly 284 is controlled by instrument drive module 30 to deflect synchronously with control handle 265 and/or such that end effector 286 is controlled to rotate or open and close with finger grip assembly 263.

The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.

Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.

The instrument driving module, the operation power device and the split type operation device provided by the invention are described in detail, specific examples are applied in the description to explain the principle and the implementation mode of the invention, and the description of the examples is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims (15)

1. An instrument drive module, characterized in that the instrument drive module (30) comprises:

the fixing device comprises a front fixing plate (311) and a rear fixing plate (312), wherein the front fixing plate (311) and the rear fixing plate (312) are arranged in parallel at intervals and are fixedly connected through a supporting column, so that a first mounting space (313) is formed on one side, deviating from the front fixing plate (311), of the rear fixing plate (312), a second mounting space (314) is formed between the front fixing plate (311) and the rear fixing plate (312), and a third mounting space (315) is formed on one side, deviating from the rear fixing plate (312), of the front fixing plate (311);

the four driving rods A (341) are arranged on the front fixing plate (311) in a sliding manner along a direction perpendicular to the front fixing plate (311), and the projections of the four driving rods A (341) on the front fixing plate (311) are distributed in a rectangular manner;

two groups of power output assemblies, wherein each group of power output assemblies provides driving force for two driving rods A (341) positioned at opposite corners of the rectangle, and each group of power output assemblies comprises a power source A (32) and a transmission part A (33); the power source A (32) is used for providing power for the transmission part A (33), and the transmission part A (33) is used for transmitting the power to the two driving rods A (341) positioned at the opposite corners of the rectangle so as to drive the two driving rods A (341) positioned at the opposite corners of the rectangle to slide reversely at the same time;

the power source A (32) comprises a driving motor A (321) and a driving wheel A (322), the driving wheel A (322) is coaxially and fixedly arranged on an output shaft of the driving motor A (321), the driving motor A (321) is arranged in the second installation space (314) and fixedly arranged on the rear fixing plate (312), the output shaft of the driving motor A (321) is perpendicular to the rear fixing plate (312), and the projection of the driving motor A (321) on the front fixing plate (311) is positioned between the projections of the two driving rods A (341) on the front fixing plate (311);

the single transmission part A (33) comprises a driving steel wire A (331), two first guide wheels (332) and two second guide wheels (333), the two first guide wheels (332) are positioned in the second installation space (314) and are arranged on the front fixing plate (311) at intervals, the two second guide wheels (333) are positioned in the first installation space (313) and are arranged on the rear fixing plate (312) at intervals, the driving wheel A (322) for transmitting power to the transmission part A (33) is arranged between the two second guide wheels (333), and the driving steel wire A (331) sequentially surrounds the two first guide wheels (332) and the two second guide wheels (333);

the instrument drive module (30) further comprises: the power source B (35), the power source B (35) comprises a driving motor B (351) and a driving wheel B (352), the power source B (35) further comprises a driving gear B (353), the driving gear B (353) is coaxially and fixedly arranged on an output shaft of the driving motor B (351) and fixedly connected with the driving wheel B (352) through bolts, and the driving gear B (353) is provided with a split retainer ring to limit axial movement;

and a transmission column (374) is fixed on the rear fixing plate (312), and the positions of the transmission column (374) close to the two side plate surfaces of the rear fixing plate (312) are respectively and rotatably provided with a ball bearing, so that the transmission column (374) is rotatably connected with the rear fixing plate (312).

2. The instrument drive module of claim 1, wherein:

the driving steel wire A (331) sequentially surrounds the two first guide wheels (332) and the two second guide wheels (333) and then two ends of the driving steel wire A (331) are connected to the driving wheel A (322) to form two first steel wire sections (3311) between the two first guide wheels (332) and the two second guide wheels (333) which are opposite in position, two second steel wire sections (3312) between the two first guide wheels (332) and two third steel wire sections (3313) between the two second guide wheels (333), and the first steel wire sections (3311) are parallel to the driving rod A (341).

3. The instrument drive module of claim 2, wherein: the four first guide wheels (332) in the two groups of transmission parts A (33) are distributed between the driving rods A (341), and the connecting lines of the projections of the four first guide wheels (332) on the front fixing plate (311) form an isosceles trapezoid, so that the staggered parts of the second wire segments (3312) in the two groups of transmission parts A (33) and the staggered parts of the third wire segments (3313) in the two groups of transmission parts A (33) avoid the center of a rectangle surrounded by the projections of the driving rods A (341).

4. The instrument drive module according to claim 3, wherein the instrument drive module (30) further comprises:

the driving rod B (342) is arranged on the front fixing plate (311) and the rear fixing plate (312) in a sliding mode along a direction perpendicular to the front fixing plate (311), and the projection of the driving rod B (342) on the front fixing plate (311) is located at the center of a rectangle formed by the projection of the four driving rods A (341);

the power source B (35) and the transmission part B (36), the power source B (35) drives the driving rod B (342) to slide along the axis direction of the driving rod B (342) through the transmission part B (36).

5. The instrument drive module of claim 4 wherein: the driving motor B (351) is arranged in the second mounting space (314), an output shaft of the driving motor B (351) rotatably penetrates through and protrudes out of the rear fixing plate (312), the driving wheel B (352) is coaxially and fixedly arranged on the output shaft of the driving motor B (351) and located in the first mounting space (313), and a projection of the driving motor B (351) on the front fixing plate (311) is located between two driving rods A (341) close to the same side edge.

6. The instrument drive module of claim 5, wherein:

the transmission part B (36) comprises a driving steel wire B (361), a third guide wheel (362) and two fourth guide wheels (363), the third guide wheel (362) is arranged in the second installation space (314) and positioned on the front fixing plate (311), the fourth guide wheels (363) are arranged in the first installation space (313) and positioned on the rear fixing plate (312), the driving steel wire B (361) sequentially surrounds the driving wheel B (352), one of the fourth guide wheels (363), the third guide wheel (362) and the other fourth guide wheel (363), two ends of the driving steel wire B (361) are fixedly connected with the side wall of the driving wheel B (352) after passing through the two fourth guide wheels (363), and two vertical sections of the driving steel wire between the third guide wheel (362) and the two fourth guide wheels (363) are parallel to the driving rod B (342), the driving rod B (342) is in transmission connection with the driving steel wire B (361);

in the isosceles trapezoid formed by the projection of the first guide wheel (332) on the front fixing plate (311), the two first guide wheels (332) corresponding to the upper bottom of the isosceles trapezoid are located between the two driving rods a (341) near the same side edge, and the projection of the third guide wheel (362), the fourth guide wheel (363) and the driving motor B (351) on the front fixing plate (311) is located between the other two driving rods a (341).

7. The instrument drive module of claim 6, wherein:

third leading wheel (362) includes leading wheel and third mount pad, the leading wheel pass through the third mount pad with preceding fixed plate (311) is connected, the third mount pad is followed the axis direction slip setting of actuating lever A (341) is in on preceding fixed plate (311) and stretch into third installation space (315), lie in third installation space (315) be provided with preloading device (324) on preceding fixed plate (311), preloading device (324) are used for driving third leading wheel (362) to be close to on one side of preceding fixed plate (311).

8. The instrument drive module of claim 6, wherein:

the driving rod B (342) is rotatably arranged on the front fixing plate (311) and the rear fixing plate (312) along the axis direction, and a power source C (37) for driving the driving rod B (342) to rotate is arranged on the rear fixing plate (312);

the power source C (37) comprises a driving motor C (371) and a driving gear C (372), the driving motor C (371) is arranged in the second installation space (314) and fixedly connected with the rear fixing plate (312), an output shaft of the driving motor C (371) rotatably penetrates through and protrudes out of the rear fixing plate (312), the driving gear C (372) is installed in the first installation space (313) and sleeved on the output shaft of the driving motor C (371), and the axis of the driving motor C (371) is parallel to the axis of the driving rod B (342);

the driving rod B (342) is coaxially and fixedly provided with a driven gear C (373), the driven gear C (373) is located in the second installation space (314), the rear fixing plate (312) is rotatably provided with a transmission column (374), two ends of the transmission column (374) located in the first installation space (313) and the second installation space (314) are respectively and coaxially and fixedly provided with a transmission gear (375), the two transmission gears (375) are respectively meshed with the driving gear C (372) and the driven gear C (373), and the width of the driven gear C (373) in the axial direction is larger than the sliding amplitude of the driving rod B (342), so that the transmission gear (375) is always meshed with the driven gear C (373) when the driving rod B (342) slides.

9. The instrument drive module of claim 8, wherein:

the driving rod A (341) is provided with a connecting piece (39) in a rotating mode along the axis direction of the driving rod A, the driving rod A (341) is connected with the driving steel wire A (331) in a transmission mode through the connecting piece (39), the driving rod B (342) is provided with another connecting piece (39) in a rotating mode along the axis direction of the driving rod B, and the driving rod B (342) is connected with the driving steel wire B (361) in a transmission mode through the connecting piece (39).

10. The instrument drive module of claim 9, wherein:

the connecting piece (39) comprises a connecting seat (391) and a pressing plate (392), and the pressing plate (392) is fixedly connected with the connecting seat (391) through bolts so as to clamp the corresponding driving steel wire;

the connecting seat (391) located on the driving rod A (341) is rotatably sleeved on the driving rod A (341), the connecting seat (391) is axially locked relative to the driving rod A (341), the connecting seat (391) located on the driving rod B (342) is rotatably sleeved on the driving rod B (342), and the connecting seat (391) is axially locked relative to the driving rod B (342).

11. The instrument drive module of claim 8, wherein:

the driving wheel A (322) and two second guide wheels (333) in the same transmission part A (33) are projected on the rear fixing plate (312) in a triangular distribution, the driving wheel A (322) is positioned between the two second guide wheels (333) close to the same side edge, so that the intersection point of the two third steel wire segments (3313) is positioned between the driving rod B (342) and the fourth guide wheel (363), and the driving gear C (372) and the transmission column (374) are arranged on the side, away from the fourth guide wheel (363), of the driving rod B (342).

12. The instrument drive module of claim 1, wherein:

the first guide wheel (332) comprises a guide wheel and a first installation seat (3321), the guide wheel is connected with the front fixing plate (311) through the first installation seat (3321), the first installation seat (3321) is arranged on the front fixing plate (311) in a sliding mode along the axial direction of the driving rod A (341), a pre-tightening device (324) is arranged on the front fixing plate (311), the pre-tightening device (324) is arranged in the third installation space (315) and used for driving the first guide wheel (332) to approach to one side of the front fixing plate (311), and when the driving steel wire A (331) reciprocates under the driving of the power source A (32), the pre-tightening device (324) locks the first installation seat (3321) on the front fixing plate (311).

13. The instrument drive module of claim 12, wherein:

first mount pad (3321) rotate through first installation axle (3322) and set up on preceding fixed plate (311), second leading wheel (333) include second installation axle (3331), the cross-section of second installation axle (3331) is non-circular cross-section, set up on rear fixed plate (312) the shape with the second installation axle (3331) cross-sectional shape second mounting hole of looks adaptation, second leading wheel (333) pass through second installation axle (3331) with rear fixed plate (312) fixed connection.

14. A surgical power plant, characterized by comprising a power main unit (27) and a handle mechanism (26), the power main unit (27) comprising the instrument driving module (30) according to any one of claims 1 to 13;

the power main unit (27) further comprises a shell, the instrument driving module (30) is arranged in the shell, and a joint seat (38) used for detachably connecting an instrument (28) is arranged on the instrument driving module (30);

the handle mechanism (26) is arranged on the shell, the handle mechanism (26) comprises a control handle (265), the control handle (265) controls the instrument driving module (30) through an adjusting ball assembly (266), so that the driving rod A (341) is controlled to stretch and retract through the instrument driving module (30) to control a universal snake bone assembly (284) on an instrument (28) to synchronously deflect along with the control handle (265);

the instrument driving module (30) further comprises a driving rod B (342), a finger buckle component (263) is arranged on the control handle (265), and the driving rod B (342) is controlled to stretch or rotate through the instrument driving module (30) so as to control a tail end executive part (286) on the instrument (28) to rotate or open and close along with the finger buckle component (263).

15. A split surgical device comprising the surgical power device of claim 14, further comprising:

an instrument (28), the instrument (28) being removably disposed on the surgical power device;

the instrument (28) comprises an interface seat (281), an abdomen entering component (282), a universal snake bone component (284) and a terminal executing piece (286) which are connected in sequence, wherein the interface seat (281) is used for being detachably connected with a joint seat (38) in the operation power device;

a control handle (265) in the surgical power device controls the instrument driving module (30) through the adjusting ball assembly (266), so that the universal snake bone assembly (284) is controlled to synchronously deflect along with the control handle (265) through the instrument driving module (30), and/or the end effector (286) is controlled to rotate or open and close along with the finger buckle assembly (263).

Images